\documentclass{article}
\usepackage[x11names, rgb]{xcolor}
\usepackage[utf8]{inputenc}
\usepackage{tikz}
\usetikzlibrary{snakes,arrows,shapes}
\usepackage{amsmath}
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\usepackage[active,tightpage]{preview}
\PreviewEnvironment{tikzpicture}
\setlength\PreviewBorder{0pt}%
\usetikzlibrary{automata}%

\begin{document}
\pagestyle{empty}
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\enlargethispage{100cm}
% Start of code
\begin{tikzpicture}[>=latex',join=bevel,]
\tikzstyle{every state}=[draw=blue!50,very thick,fill=blue!20]%
\node (q0) at (150bp,302bp) [state] {$q_{0}$};
  \node (q5) at (114bp,18bp) [state] {$q_{5}$};
  \node (q4) at (74bp,106bp) [state] {$q_{4}$};
  \node (q3) at (146bp,106bp) [state] {$q_{3}$};
  \node (q2) at (110bp,214bp) [state] {$q_{2}$};
  \node (q1) at (196bp,160bp) [state] {$q_{1}$};
  \draw [->] (q0) ..controls (136bp,272bp) and (129bp,255bp)  .. node[auto] {$\tau$} (q2);
  \draw [->] (q0) ..controls (164bp,260bp) and (178bp,216bp)  .. node[auto] {$\tau$} (q1);
  \draw [->] (q4) ..controls (62bp,78bp) and (59bp,64bp)  .. (64bp,54bp) .. controls (68bp,45bp) and (75bp,39bp)  .. node[auto] {$\overline{c}$} (q5);
  \draw [->] (q4) ..controls (88bp,76bp) and (95bp,59bp)  .. node[auto] {$\overline{a}$} (q5);
  \draw [->] (q3) ..controls (137bp,83bp) and (134bp,76bp)  .. (132bp,70bp) .. controls (129bp,62bp) and (126bp,54bp)  .. node[auto] {$\overline{b}$} (q5);
  \draw [->] (q3) ..controls (151bp,78bp) and (151bp,65bp)  .. (148bp,54bp) .. controls (146bp,47bp) and (144bp,42bp)  .. node[auto] {$\overline{a}$} (q5);
  \draw [->] (q2) ..controls (57bp,180bp) and (44bp,166bp)  .. (27bp,124bp) .. controls (22bp,109bp) and (22bp,103bp)  .. (27bp,88bp) .. controls (39bp,54bp) and (47bp,40bp)  .. node[auto] {$\overline{a}$} (q5);
  \draw [->] (q2) ..controls (98bp,179bp) and (90bp,153bp)  .. node[auto] {$\tau$} (q4);
  \draw [->] (q2) ..controls (122bp,179bp) and (130bp,153bp)  .. node[auto] {$\tau$} (q3);
  \draw [->] (q1) ..controls (192bp,127bp) and (188bp,105bp)  .. (182bp,88bp) .. controls (171bp,58bp) and (172bp,41bp)  .. node[auto] {$\overline{a}$} (q5);
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\end{tikzpicture}
% End of code

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\end{document}
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